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Comparison of EKF and PEKF in a SLAM context
2008 11th International IEEE Conference on Intelligent Transportation Systems, 2008This paper introduces an implementation of the Polynomial Extended Kalman Filter (PEKF) to solve the Simultaneous Localization and Map building (SLAM) problem. The proposed solution is a filtering algorithm which is a polynomial transformation of state evolution and measurement equations.
Chanier, François +3 more
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SIMD and OpenMP optimization of EKF-SLAM
2014 International Conference on Multimedia Computing and Systems (ICMCS), 2014SLAM algorithms are widely used by autonomous robots operating in unknown environments. Several works have presented optimizations mainly focused on the algorithm complexity. New computing technologies (SIMD coprocessors, multicore architecture) can greatly accelerate the processing time but require rethinking the algorithm implementation.
Vincke, Bastien +3 more
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Integrated Exploration Based SRT-EKF
2010 Ninth Mexican International Conference on Artificial Intelligence, 2010Real mobile robots should be able to build an abstract representation of the physical environment, in order to navigate and work in such environment. We propose a method for integrated exploration, where mobile robot incrementally build a map of this environment while simultaneously use this map to compute the absolute robot localization, and make ...
Alfredo Toriz P. +3 more
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Sensorless control of induction motor using EKF: Analysis of parameter variation on EKF performance
2016 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES), 2016This paper deals with the investigation of the Extended Kalman Filter (EKF) for sensorless indirect vector control of an induction motor. The prime focus is low speed operation, when the EKF somewhat presents erroneous results. The effectiveness of the EKF as a speed estimator under machine parameter variations - change in stator resistance, rotor ...
K.V. Shivaramakrishna +3 more
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Consistency of SLAM-EKF Algorithms for Indoor Environments
Journal of Intelligent and Robotic Systems, 2007zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Diego Rodríguez-Losada +4 more
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A computationally efficient EKF-vSLAM
2008 16th Mediterranean Conference on Control and Automation, 2008This paper presents an efficient extended Kalman filter implementation of a single-camera visual simulataneous localization and mapping (vSLAM) algorithm, vSLAM is a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based.
Souici A. Krim +2 more
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IMPACT OF PERTURBATION ESTIMATOR ON EKF-SLAM RESULTS
IFAC Proceedings Volumes, 2007Abstract This paper deals with the Simultaneous Localization and Map building (SLAM) problem using an Extended Kalman Filter with Perturbation Estimator (EKFPE). The perturbation estimator is used to take systematic errors into account. These disturbance estimates are added to vehicle states in a feedback loop to improve location and map estimates ...
Chanier, François +3 more
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EKF-based estimation of SOC and temperature in ultracapacitors
2013 10th IEEE International Conference on Control and Automation (ICCA), 2013In this paper, simultaneous estimation of state-of-charge (SOC) and temperature is achieved by applying extended Kalman filter (EKF) algorithm with only the terminal measurement of voltage and current. For the application of EKF algorithm, a nonlinear model which consists of a voltageand-thermal-dependent equivalent circuit model and a thermal model is
Chia-Jui Chiang +2 more
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An EKF Based Approach to Radar Inertial Odometry
2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2020Accurate localization is key for autonomous robotics. Navigation in GNSS-denied and degraded visual environment is still very challenging. Approaches based on visual sensors usually fail in conditions like darkness, direct sunlight, fog or smoke.Our approach is based on a millimeter wave FMCW radar sensor and an Inertial Measurement Unit (IMU) as both ...
Doer, Christopher, Trommer, Gert F.
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Rhythmic EKF for pose estimation during gait
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015Accurate estimation of lower body pose during gait is useful in a wide variety of applications, including design of bipedal walking strategies, active prosthetics, exoskeletons, and physical rehabilitation. In this paper an algorithm is developed to estimate joint kinematics during rhythmic motion such as walking, using inertial measurement units ...
Vladimir Joukov +4 more
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